Prince George and Princess Charlotte won the hearts of the nation yet again with their appearances at today's Trooping the Colour in honour of the Queen's 90th birthday.

The siblings appeared on the balcony of Buckingham Palace alongside their parents the Duke and Duchess of Cambridge, with Kensington Palace tweeting a video shortly afterwards:

The pair were carried out by their parents before Prince George stepped up onto a platform so he could see over the wall; Princess Charlotte was held by her mother during the ceremony.

It was Princess Charlotte's first official public appearance, with her brother appearing at the event for the first time last year.

Both youngsters were seen glancing up at the aircraft flying overhead, and appeared to squint into the bright sky above them.

The Queen, Prince William, Prince Harry, Prince George, Princess Charlotte and Duchess of Cambridge Catherine at trooping of the colourpinterest
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Mark Cuthbert/UK Press//Getty Images

The Cambridges had pride of place on the balcony next to the Queen who could be seen talking to her great grandson who knows her as Gan-Gan.

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The Queen had taken part in the Trooping the Colour procession alongside other members of the Royal Family before returning to the Palace for the fly past over London.

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Mark Cuthbert/UK Press//Getty Images

The event takes place every year but was particularly special in Her Majesty's 90th year.

Street parties and celebrations are taking place all weekend to mark the Queen's official 90th birthday.